feat(firmware): validate configuration and migrate sensor-driven flight APIs

Validate configuration through its owning schemas and keep board
declarations separate from shared F722 resource ownership. Bound USB
transitions, isolate transport failures and retain restart-only activation.

Migrate navigation and flight consumers with the sensor and schema
contracts. Require explicit installation data and synchronous output
authority; board motor outputs remain inhibited.

Validation: assembled-prefix host tests, strict Clippy, platform/USB tests
and both ARM release builds. Final-source coverage and scoped Miri/Kani
evidence are retained separately from hardware qualification.

firmware/libs/kaptan-navigation/Cargo.toml

@@ -10,11 +10,10 @@ workspace = true
 
 [features]
 default = []
-# Enables the provisional raw-rate estimator used only by the internal SITL
-# executable. It is not part of a board build.
-sitl = ["dep:kaptan-sensor"]
+# Driver snapshot conversion into navigation observations. The estimator is
+# available independently of physical sensor adapters.
+sensor-snapshots = ["dep:kaptan-sensor"]
 [dependencies]
-kaptan-err-reportable = { path = "../kaptan-err-reportable" }
 kaptan-math = { path = "../kaptan-math" }
 kaptan-sensor = { path = "../kaptan-sensor", optional = true }
 kaptan-time = { path = "../kaptan-time" }